<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Aria: ArTransform Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Aria
   &#160;<span id="projectnumber">2.9.4</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="modules.html"><span>Modules</span></a></li>
      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
      <li><a href="files.html"><span>Files</span></a></li>
      <li><a href="examples.html"><span>Examples</span></a></li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
      <li><a href="hierarchy.html"><span>Class&#160;Hierarchy</span></a></li>
      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('classArTransform.html','');});
</script>
<div id="doc-content">
<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="classArTransform-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">ArTransform Class Reference<div class="ingroups"><a class="el" href="group__UtilityClasses.html">Utility Classes</a></div></div>  </div>
</div><!--header-->
<div class="contents">

<p>Perform transforms between different coordinates.  
 <a href="classArTransform.html#details">More...</a></p>

<p><code>#include &lt;ArTransform.h&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a633902e2c1683ee9073c621cc61d2d24"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a633902e2c1683ee9073c621cc61d2d24"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a633902e2c1683ee9073c621cc61d2d24">ArTransform</a> ()</td></tr>
<tr class="memdesc:a633902e2c1683ee9073c621cc61d2d24"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a633902e2c1683ee9073c621cc61d2d24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2095f3f24b79c8c53de2e0ea59a055bb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2095f3f24b79c8c53de2e0ea59a055bb"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a2095f3f24b79c8c53de2e0ea59a055bb">ArTransform</a> (<a class="el" href="classArPose.html">ArPose</a> pose)</td></tr>
<tr class="memdesc:a2095f3f24b79c8c53de2e0ea59a055bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor, Sets the transform so points in this coord system transform to abs world coords. <br /></td></tr>
<tr class="separator:a2095f3f24b79c8c53de2e0ea59a055bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aadc0878065550c14b8c44bed2aa2d609"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aadc0878065550c14b8c44bed2aa2d609"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#aadc0878065550c14b8c44bed2aa2d609">ArTransform</a> (<a class="el" href="classArPose.html">ArPose</a> pose1, <a class="el" href="classArPose.html">ArPose</a> pose2)</td></tr>
<tr class="memdesc:aadc0878065550c14b8c44bed2aa2d609"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor, sets the transform so that pose1 will be transformed to pose2. <br /></td></tr>
<tr class="separator:aadc0878065550c14b8c44bed2aa2d609"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c872d23e43d7d395dcab27f0d39a5c3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a6c872d23e43d7d395dcab27f0d39a5c3">doInvTransform</a> (<a class="el" href="classArPose.html">ArPose</a> source)</td></tr>
<tr class="memdesc:a6c872d23e43d7d395dcab27f0d39a5c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take the source pose and run the inverse transform on it, taking it from abs coords to local.  <a href="#a6c872d23e43d7d395dcab27f0d39a5c3">More...</a><br /></td></tr>
<tr class="separator:a6c872d23e43d7d395dcab27f0d39a5c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f107f210c1b30d6ff9943c9de7c8bef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a6f107f210c1b30d6ff9943c9de7c8bef">doInvTransform</a> (<a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a> source)</td></tr>
<tr class="memdesc:a6f107f210c1b30d6ff9943c9de7c8bef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take the source pose and run the inverse transform on it, taking it from abs coords to local.  <a href="#a6f107f210c1b30d6ff9943c9de7c8bef">More...</a><br /></td></tr>
<tr class="separator:a6f107f210c1b30d6ff9943c9de7c8bef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a554ef621996267e83102df2b64cd40f5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a554ef621996267e83102df2b64cd40f5">doTransform</a> (<a class="el" href="classArPose.html">ArPose</a> source)</td></tr>
<tr class="memdesc:a554ef621996267e83102df2b64cd40f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take the source pose and run the transform on it to put it into abs coordinates.  <a href="#a554ef621996267e83102df2b64cd40f5">More...</a><br /></td></tr>
<tr class="separator:a554ef621996267e83102df2b64cd40f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f65d222595c599f731c34ac90eed8db"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a3f65d222595c599f731c34ac90eed8db">doTransform</a> (<a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a> source)</td></tr>
<tr class="memdesc:a3f65d222595c599f731c34ac90eed8db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take the source pose and run the transform on it to put it into abs coordinates.  <a href="#a3f65d222595c599f731c34ac90eed8db">More...</a><br /></td></tr>
<tr class="separator:a3f65d222595c599f731c34ac90eed8db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad1a3847600a6c7928eb5671c85b192cf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad1a3847600a6c7928eb5671c85b192cf"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#ad1a3847600a6c7928eb5671c85b192cf">doTransform</a> (std::list&lt; <a class="el" href="classArPose.html">ArPose</a> * &gt; *poseList)</td></tr>
<tr class="memdesc:ad1a3847600a6c7928eb5671c85b192cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take a std::list of sensor readings and do the transform on it. <br /></td></tr>
<tr class="separator:ad1a3847600a6c7928eb5671c85b192cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab41a8d2711d0a714e3323cc95adfbe23"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab41a8d2711d0a714e3323cc95adfbe23"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#ab41a8d2711d0a714e3323cc95adfbe23">doTransform</a> (std::list&lt; <a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a> * &gt; *poseList)</td></tr>
<tr class="memdesc:ab41a8d2711d0a714e3323cc95adfbe23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Take a std::list of sensor readings and do the transform on it. <br /></td></tr>
<tr class="separator:ab41a8d2711d0a714e3323cc95adfbe23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af006f02b61896c871d53bdef8dd03ff1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af006f02b61896c871d53bdef8dd03ff1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#af006f02b61896c871d53bdef8dd03ff1">getTh</a> ()</td></tr>
<tr class="memdesc:af006f02b61896c871d53bdef8dd03ff1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the transform angle value (degrees) <br /></td></tr>
<tr class="separator:af006f02b61896c871d53bdef8dd03ff1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05dca73dbc437b671db02a3b431b3ffb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05dca73dbc437b671db02a3b431b3ffb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a05dca73dbc437b671db02a3b431b3ffb">getX</a> ()</td></tr>
<tr class="memdesc:a05dca73dbc437b671db02a3b431b3ffb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the transform x value (mm) <br /></td></tr>
<tr class="separator:a05dca73dbc437b671db02a3b431b3ffb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc97cd9ad128fd284377000f85a82b21"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc97cd9ad128fd284377000f85a82b21"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#acc97cd9ad128fd284377000f85a82b21">getY</a> ()</td></tr>
<tr class="memdesc:acc97cd9ad128fd284377000f85a82b21"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the transform y value (mm) <br /></td></tr>
<tr class="separator:acc97cd9ad128fd284377000f85a82b21"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b5a2db92f8a4a8c6eb0449ee23b61a5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a9b5a2db92f8a4a8c6eb0449ee23b61a5">setTransform</a> (<a class="el" href="classArPose.html">ArPose</a> pose)</td></tr>
<tr class="memdesc:a9b5a2db92f8a4a8c6eb0449ee23b61a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the transform so points in this coord system transform to abs world coords.  <a href="#a9b5a2db92f8a4a8c6eb0449ee23b61a5">More...</a><br /></td></tr>
<tr class="separator:a9b5a2db92f8a4a8c6eb0449ee23b61a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7538fe226bef22ef8fbc4710e1e3cf0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#aa7538fe226bef22ef8fbc4710e1e3cf0">setTransform</a> (<a class="el" href="classArPose.html">ArPose</a> pose1, <a class="el" href="classArPose.html">ArPose</a> pose2)</td></tr>
<tr class="memdesc:aa7538fe226bef22ef8fbc4710e1e3cf0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the transform so that pose1 will be transformed to pose2.  <a href="#aa7538fe226bef22ef8fbc4710e1e3cf0">More...</a><br /></td></tr>
<tr class="separator:aa7538fe226bef22ef8fbc4710e1e3cf0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa457f455fa2dded5f74fd406b729106f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa457f455fa2dded5f74fd406b729106f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#aa457f455fa2dded5f74fd406b729106f">setTransformLowLevel</a> (double x, double y, double th)</td></tr>
<tr class="memdesc:aa457f455fa2dded5f74fd406b729106f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal function for setting the transform from low level data not poses. <br /></td></tr>
<tr class="separator:aa457f455fa2dded5f74fd406b729106f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6766b5316ff2bbb644253387b2274cc2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6766b5316ff2bbb644253387b2274cc2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArTransform.html#a6766b5316ff2bbb644253387b2274cc2">~ArTransform</a> ()</td></tr>
<tr class="memdesc:a6766b5316ff2bbb644253387b2274cc2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a6766b5316ff2bbb644253387b2274cc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a782624f3a738f93a4193dc45cabf2953"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a782624f3a738f93a4193dc45cabf2953"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myCos</b></td></tr>
<tr class="separator:a782624f3a738f93a4193dc45cabf2953"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a27a80e0611b340e7f2282f2902b77e43"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a27a80e0611b340e7f2282f2902b77e43"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>mySin</b></td></tr>
<tr class="separator:a27a80e0611b340e7f2282f2902b77e43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed4d28100fc546edf27b123863a2af7a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aed4d28100fc546edf27b123863a2af7a"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myTh</b></td></tr>
<tr class="separator:aed4d28100fc546edf27b123863a2af7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d2093993457c39b58e96574253f476f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4d2093993457c39b58e96574253f476f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myX</b></td></tr>
<tr class="separator:a4d2093993457c39b58e96574253f476f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa83a94e1b95c1413a77161d30dc2bcbe"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa83a94e1b95c1413a77161d30dc2bcbe"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myY</b></td></tr>
<tr class="separator:aa83a94e1b95c1413a77161d30dc2bcbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Perform transforms between different coordinates. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="customRangeSensorExample_8cpp-example.html#_a16">customRangeSensorExample.cpp</a>, and <a class="el" href="customRangeSensorExampleRobotTask_8cpp-example.html#_a19">customRangeSensorExampleRobotTask.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a6c872d23e43d7d395dcab27f0d39a5c3"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classArPose.html">ArPose</a> ArTransform::doInvTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPose.html">ArPose</a>&#160;</td>
          <td class="paramname"><em>source</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Take the source pose and run the inverse transform on it, taking it from abs coords to local. </p>
<p>The source and result can be the same </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">source</td><td>the parameter to transform </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the source transformed from absolute into local coords </dd></dl>

</div>
</div>
<a class="anchor" id="a6f107f210c1b30d6ff9943c9de7c8bef"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a> ArTransform::doInvTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a>&#160;</td>
          <td class="paramname"><em>source</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Take the source pose and run the inverse transform on it, taking it from abs coords to local. </p>
<p>The source and result can be the same </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">source</td><td>the parameter to transform </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the source transformed from absolute into local coords </dd></dl>

</div>
</div>
<a class="anchor" id="a554ef621996267e83102df2b64cd40f5"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classArPose.html">ArPose</a> ArTransform::doTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPose.html">ArPose</a>&#160;</td>
          <td class="paramname"><em>source</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Take the source pose and run the transform on it to put it into abs coordinates. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">source</td><td>the parameter to transform </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the source transformed into absolute coordinates </dd></dl>

</div>
</div>
<a class="anchor" id="a3f65d222595c599f731c34ac90eed8db"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a> ArTransform::doTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPoseWithTime.html">ArPoseWithTime</a>&#160;</td>
          <td class="paramname"><em>source</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Take the source pose and run the transform on it to put it into abs coordinates. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">source</td><td>the parameter to transform </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the source transformed into absolute coordinates </dd></dl>

</div>
</div>
<a class="anchor" id="a9b5a2db92f8a4a8c6eb0449ee23b61a5"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ArTransform::setTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPose.html">ArPose</a>&#160;</td>
          <td class="paramname"><em>pose</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Sets the transform so points in this coord system transform to abs world coords. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pose</td><td>the coord system from which we transform to abs world coords </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="aa7538fe226bef22ef8fbc4710e1e3cf0"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ArTransform::setTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArPose.html">ArPose</a>&#160;</td>
          <td class="paramname"><em>pose1</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classArPose.html">ArPose</a>&#160;</td>
          <td class="paramname"><em>pose2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Sets the transform so that pose1 will be transformed to pose2. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pose1</td><td>transform this into pose2 </td></tr>
    <tr><td class="paramname">pose2</td><td>transform pose1 into this </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArTransform.h</li>
<li>ArTransform.cpp</li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="classArTransform.html">ArTransform</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
